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Compile FrogPilot

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This commit is contained in:
FrogAi
2024-03-10 20:59:55 -07:00
parent 69e7feaf01
commit f1acd339d7
1485 changed files with 426154 additions and 398339 deletions
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92
panda/board/drivers/gpio.h
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@@ -1,92 +0,0 @@
#define MODE_INPUT 0
#define MODE_OUTPUT 1
#define MODE_ALTERNATE 2
#define MODE_ANALOG 3
#define PULL_NONE 0
#define PULL_UP 1
#define PULL_DOWN 2
#define OUTPUT_TYPE_PUSH_PULL 0U
#define OUTPUT_TYPE_OPEN_DRAIN 1U
typedef struct {
GPIO_TypeDef *bank;
uint8_t pin;
} gpio_t;
void set_gpio_mode(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
ENTER_CRITICAL();
uint32_t tmp = GPIO->MODER;
tmp &= ~(3U << (pin * 2U));
tmp |= (mode << (pin * 2U));
register_set(&(GPIO->MODER), tmp, 0xFFFFFFFFU);
EXIT_CRITICAL();
}
void set_gpio_output(GPIO_TypeDef *GPIO, unsigned int pin, bool enabled) {
ENTER_CRITICAL();
if (enabled) {
register_set_bits(&(GPIO->ODR), (1UL << pin));
} else {
register_clear_bits(&(GPIO->ODR), (1UL << pin));
}
set_gpio_mode(GPIO, pin, MODE_OUTPUT);
EXIT_CRITICAL();
}
void set_gpio_output_type(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int output_type){
ENTER_CRITICAL();
if(output_type == OUTPUT_TYPE_OPEN_DRAIN) {
register_set_bits(&(GPIO->OTYPER), (1UL << pin));
} else {
register_clear_bits(&(GPIO->OTYPER), (1U << pin));
}
EXIT_CRITICAL();
}
void set_gpio_alternate(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
ENTER_CRITICAL();
uint32_t tmp = GPIO->AFR[pin >> 3U];
tmp &= ~(0xFU << ((pin & 7U) * 4U));
tmp |= mode << ((pin & 7U) * 4U);
register_set(&(GPIO->AFR[pin >> 3]), tmp, 0xFFFFFFFFU);
set_gpio_mode(GPIO, pin, MODE_ALTERNATE);
EXIT_CRITICAL();
}
void set_gpio_pullup(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) {
ENTER_CRITICAL();
uint32_t tmp = GPIO->PUPDR;
tmp &= ~(3U << (pin * 2U));
tmp |= (mode << (pin * 2U));
register_set(&(GPIO->PUPDR), tmp, 0xFFFFFFFFU);
EXIT_CRITICAL();
}
int get_gpio_input(const GPIO_TypeDef *GPIO, unsigned int pin) {
return (GPIO->IDR & (1UL << pin)) == (1UL << pin);
}
void gpio_set_all_output(const gpio_t *pins, uint8_t num_pins, bool enabled) {
for (uint8_t i = 0; i < num_pins; i++) {
set_gpio_output(pins[i].bank, pins[i].pin, enabled);
}
}
void gpio_set_bitmask(const gpio_t *pins, uint8_t num_pins, uint32_t bitmask) {
for (uint8_t i = 0; i < num_pins; i++) {
set_gpio_output(pins[i].bank, pins[i].pin, (bitmask >> i) & 1U);
}
}
// Detection with internal pullup
#define PULL_EFFECTIVE_DELAY 4096
bool detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) {
set_gpio_mode(GPIO, pin, MODE_INPUT);
set_gpio_pullup(GPIO, pin, mode);
for (volatile int i=0; i<PULL_EFFECTIVE_DELAY; i++);
bool ret = get_gpio_input(GPIO, pin);
set_gpio_pullup(GPIO, pin, PULL_NONE);
return ret;
}